version: 66.14
glider: 195
mission: 15
dive: 565
start: 2 21 118 22 7 31
data:
$ID,195
$MISSION,15
$DIVE,565
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,90
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59282
$MASS_COMP,3973.1001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2812
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,1843
$C_ROLL_CLIMB,1843
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2247
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.356163
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043781498
$SEABIRD_T_H,0.00063190429
$SEABIRD_T_I,2.5428115e-05
$SEABIRD_T_J,2.9111013e-06
$SEABIRD_C_G,-9.7135391
$SEABIRD_C_H,1.1137754
$SEABIRD_C_I,-0.0016462026
$SEABIRD_C_J,0.00020008108
$SEABIRD_C_Z,2957.3201
$GPS1,210218,220238,4737.9409,-12254.6055,9,0.9,13,16.4,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.0
$GPS2,210218,220648,4737.9512,-12254.5820,7,0.9,14,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE3
$TGT_LATLONG,4737.343,-12255.988
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-0.137217
$KALMAN_X,24982.394531,32.228821,-582.533447,-24351.066406,911.770996
$KALMAN_Y,5615.479492,-3.337315,-424.696045,-5543.971191,423.217987
$MHEAD_RNG_PITCHd_Wd,221.3,2086,-13.1,-10.000,-17.32,3645
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.79,-244.4,175,1856,551,483,0.0,0.0,0,60,0.00,0.00,-48.80,0.000,16386,0.000,0.000,176,1856,1707,1753,1662,0,0,0,0,0,0,26.52,28.83,26.53,8.30,47.99
$GC,63,-0.79,-244.4,175,1855,1753,1663,2.3,-1.9,7,126,9.10,0.00,-47.30,0.000,18438,0.194,0.000,2547,1855,3244,3311,3178,0,0,0,0,0,0,24.85,25.52,25.24,8.41,49.01
$GC,192,-0.68,-244.4,2547,1855,3312,3179,18.9,-19.3,28,200,0.10,0.00,0.00,0.000,2054,0.148,0.000,2588,1855,3245,3312,3179,0,0,0,0,0,0,26.01,26.06,26.03,8.54,47.87
$GC,258,-0.68,-244.4,2587,1855,3312,3179,29.1,-13.8,35,262,0.00,2.17,0.00,0.000,260,0.000,0.040,2581,3243,3245,3312,3179,0,0,0,0,0,0,26.59,25.76,26.60,8.54,47.71
$GC,273,-0.68,-244.4,2580,3243,3312,3179,30.9,-14.3,36,281,0.00,2.12,0.00,0.000,1030,0.000,0.028,2581,1853,3245,3312,3179,0,0,0,0,0,0,25.97,25.96,26.03,8.54,48.18
$GC,400,-0.68,-244.4,2580,1852,3312,3179,48.6,-13.1,49,410,0.00,2.20,0.00,0.000,516,0.000,0.040,2580,454,3245,3312,3178,0,0,0,0,0,0,26.61,25.71,26.62,8.55,49.40
$GC,437,-0.68,-244.4,2580,454,3312,3178,53.0,-13.0,52,445,0.00,2.15,0.00,0.000,1030,0.000,0.030,2572,1835,3245,3312,3179,0,0,0,0,0,0,25.98,25.94,26.01,8.55,48.30
$GC,564,-0.68,-244.4,2572,1835,3312,3178,69.6,-12.8,65,567,0.00,2.22,0.00,0.000,260,0.000,0.040,2562,3249,3245,3312,3179,0,0,0,0,0,0,26.61,25.75,26.63,8.55,48.97
$GC,606,-0.68,-244.4,2562,3249,3312,3179,75.0,-12.7,69,610,0.00,2.12,0.00,0.000,1030,0.000,0.028,2562,1834,3245,3312,3178,0,0,0,0,0,0,26.03,25.95,26.06,8.55,49.37
$GC,739,-0.63,-244.4,2562,1833,3312,3179,92.6,-13.5,82,741,0.15,0.00,0.00,0.000,2054,0.122,0.000,2611,1833,3245,3312,3178,0,0,0,0,0,0,25.98,26.08,26.03,8.56,49.64
$GC,859,-0.63,-244.4,2610,1833,3312,3179,104.5,-9.5,94,864,0.00,2.22,0.00,0.000,260,0.000,0.040,2603,3246,3245,3312,3179,0,0,0,0,0,0,26.62,25.72,26.63,8.56,49.80
$GC,893,-0.63,-244.4,2603,3246,3312,3179,107.5,-9.4,97,902,0.00,2.10,0.00,0.000,1030,0.000,0.028,2604,1847,3245,3312,3179,0,0,0,0,0,0,25.99,25.95,26.01,8.56,49.68
$GC,1086,-0.63,-244.4,2603,1847,3312,3178,125.8,-9.7,116,1096,0.00,2.20,0.00,0.000,516,0.000,0.040,2603,453,3245,3312,3179,0,0,0,0,0,0,26.60,25.67,26.61,8.57,49.60
$GC,1154,-0.63,-244.4,2603,452,3312,3178,133.0,-10.2,122,1162,0.00,2.15,0.00,0.000,1030,0.000,0.030,2596,1838,3245,3312,3178,0,0,0,0,0,0,25.96,25.91,25.98,8.57,50.00
$GC,1343,-0.63,-244.4,2596,1838,3312,3179,152.6,-10.6,141,1352,0.00,2.20,0.00,0.000,260,0.000,0.039,2587,3248,3245,3312,3179,0,0,0,0,0,0,26.63,25.72,26.63,8.58,50.51
$STATE,1384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1384,begin apogee
$GC,1392,-0.21,0.0,2587,1830,3312,3179,157.1,-10.6,145,1588,0.43,0.00,192.88,0.659,10246,0.090,0.000,2742,1829,2245,2370,2121,0,0,0,0,0,0,25.53,24.84,24.02,8.58,50.15
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1590,begin climb
$GC,1593,0.79,244.4,2742,1829,2370,2120,163.1,0.0,165,1806,0.88,0.00,202.48,0.643,10246,0.066,0.000,3055,1829,1249,1352,1146,0,0,0,0,0,0,25.17,24.49,24.01,8.50,48.97
$GC,1986,0.70,244.4,3054,1829,1351,1141,118.4,14.1,205,1996,0.00,2.17,0.00,0.000,516,0.000,0.041,3065,455,1246,1351,1141,0,0,0,0,0,0,26.42,25.69,26.43,8.41,48.58
$GC,2060,0.60,244.4,3064,455,1350,1140,108.2,13.3,212,2065,0.17,2.15,0.00,0.000,5126,0.113,0.028,3007,1850,1245,1350,1140,0,0,0,0,0,0,25.58,25.94,25.71,8.41,48.62
$GC,2256,0.60,244.4,3006,1850,1350,1139,88.0,9.5,231,2260,0.00,2.20,0.00,0.000,260,0.000,0.037,3007,3256,1244,1350,1139,0,0,0,0,0,0,26.57,25.82,26.58,8.41,49.72
$GC,2271,0.60,244.4,3006,3256,1350,1139,86.7,9.4,232,2278,0.00,2.17,0.00,0.000,1030,0.000,0.028,3012,1840,1244,1350,1139,0,0,0,0,0,0,26.00,25.97,26.03,8.41,49.01
$GC,2399,0.60,244.4,3011,1840,1350,1139,73.7,9.6,245,2403,0.00,2.20,0.00,0.000,516,0.000,0.041,3015,451,1244,1350,1139,0,0,0,0,0,0,26.60,25.74,26.60,8.41,49.33
$GC,2462,0.60,244.4,3015,451,1350,1139,67.4,9.5,251,2467,0.00,2.12,0.00,0.000,1030,0.000,0.028,3016,1853,1244,1350,1139,0,0,0,0,0,0,26.08,26.00,26.10,8.41,49.21
$GC,2595,0.60,244.4,3015,1853,1350,1139,54.5,9.2,264,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1853,1244,1350,1139,0,0,0,0,0,0,26.60,26.62,26.61,8.40,49.01
$GC,2715,0.60,244.4,3015,1853,1350,1139,43.4,9.2,276,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1853,1244,1350,1139,0,0,0,0,0,0,26.61,26.62,26.62,8.40,49.37
$GC,2835,0.60,244.4,3015,1853,1350,1139,33.2,8.4,288,2845,0.00,2.22,0.00,0.000,516,0.000,0.041,3023,451,1244,1350,1139,0,0,0,0,0,0,26.61,25.72,26.63,8.39,49.72
$GC,2909,0.60,244.4,3022,451,1350,1139,27.0,8.3,295,2913,0.00,2.12,0.00,0.000,1030,0.000,0.028,3023,1844,1244,1350,1139,0,0,0,0,0,0,26.06,25.98,26.09,8.39,49.21
$GC,3040,0.71,359.7,3023,1844,1350,1138,16.5,6.8,311,3108,0.00,2.25,61.42,0.522,8708,0.000,0.040,3026,451,778,867,689,0,0,0,0,0,0,26.62,24.87,24.42,8.39,49.48
$GC,3128,0.87,456.1,3026,450,867,687,10.3,7.3,324,3171,0.12,2.17,37.67,0.483,11270,0.038,0.028,3138,1846,498,535,462,0,0,0,0,0,0,25.75,25.79,24.32,8.34,48.42
$STATE,3187,end climb,SURFACE_DEPTH_REACHED
$STATE,3187,begin surface coast
$FINISH,0.8,1.011793
$STATE,3206,end surface coast,CONTROL_FINISHED_OK
$STATE,3206,begin surface
$SM_CCo,3283,0.00,0.000,0,0,487,431.48
$SM_GC,1.80,7.72,0.00,0.00,0.028,0.000,0.000,176,1847,487,-8.06,0.11,431.48,0,0,0,0,0,0,25.94,26.25,25.97
$IRIDIUM_FIX,4739.67,-12257.95,210218,212407
$TT8_MAMPS,0.026964,0.296604
$HUMID,48.11
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.4
$ALTIM_BOTTOM_PING,130.7,36.1
$24V_AH,24.01,97.198
$10V_AH,9.81,65.246
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.675,47.875,494.450,0.000,0.000,0.000,0.000,167.475,2.250,0.000,15.338,818.678,1100.427,516.456,1008.194,121.638,0.000,1145.418,0.000,645.018,0.000,18.143,0.000
$DEVICE_MAMPS,193.545,41.310,658.665,0.000,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.613,723.235,439.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312092
$DATA_FILE_SIZE,24539,336
$CAP_FILE_SIZE,55420,0
$CFSIZE,2097872896,2039152640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,51.15,1
$GPS,210218,230310,4737.742,-12255.180,6,0.8,16,16.4,0.0,0.0,10,4.7